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cleaned up detumble and fixed gyr detumble law to actual bdot law
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This commit is contained in:
Marius Eggert
2023-02-28 10:12:25 +01:00
parent d86b9d55da
commit 04a561b9a0
3 changed files with 20 additions and 32 deletions
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4
mission/controller/AcsController.cpp
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@ -8,7 +8,6 @@ AcsController::AcsController(object_id_t objectId)
: ExtendedControllerBase(objectId),
guidance(&acsParameters),
safeCtrl(&acsParameters),
detumble(&acsParameters),
ptgCtrl(&acsParameters),
parameterHelper(this),
mgmDataRaw(this),
@ -219,7 +218,8 @@ void AcsController::performDetumble() {
double magMomMtq[3] = {0, 0, 0};
detumble.bDotLaw(mgmDataProcessed.mgmVecTotDerivative.value,
mgmDataProcessed.mgmVecTotDerivative.isValid(), mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), magMomMtq);
mgmDataProcessed.mgmVecTot.isValid(), magMomMtq,
acsParameters.detumbleParameter.gainD);
actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs,
*acsParameters.magnetorquerParameter.inverseAlignment,
acsParameters.magnetorquerParameter.dipolMax);